function coeff = getCoeffCons(t)

coeff = [
    1, 1 * t^1, 1 * t^2, 1 * t^3, 1 * t^4,  1 * t^5,  1 * t^6,   1 * t^7;
    0, 1,       2 * t^1, 3 * t^2, 4 * t^3,  5 * t^4,  6 * t^5,   7 * t^6;
    0, 0,       2,       6 * t^1, 12 * t^2, 20 * t^3, 30 * t^4,  42 * t^5;
    0, 0,       0,       6,       24 * t^1, 60 * t^2, 120 * t^3, 210 * t^4];

end
